354-0626/02 – Locomotion Subsystems for Service Robots 1 (LSpSR1)
| Gurantor department | Department of Robotics | Credits | 4 |
| Subject guarantor | prof. Ing. Zdenko Bobovský, PhD. | Subject version guarantor | prof. Ing. Zdenko Bobovský, PhD. |
| Study level | undergraduate or graduate | Requirement | Compulsory |
| Year | 1 | Semester | winter |
| | Study language | English |
| Year of introduction | 2021/2022 | Year of cancellation | |
| Intended for the faculties | FS | Intended for study types | Follow-up Master |
Subject aims expressed by acquired skills and competences
In this course, students will be acquainted with chassis of chassis and robotic systems. They will learn how to design and customize such a chassis for the defined service scenario.
Teaching methods
Lectures
Tutorials
Project work
Summary
In the course, students will get acquainted with the wheel and crawler chassis of service robotic systems. They will learn how to design and dimension chassis for the required service scenario. They will also be introduced to various ways of steering wheel and crawler chassis.
Compulsory literature:
Recommended literature:
Way of continuous check of knowledge in the course of semester
Continuous check and point evaluation of exercise results. The result is a semestral project.
E-learning
Use of university system LMS Moodle
Other requirements
There are no additional requirements for the student.
Prerequisities
Subject has no prerequisities.
Co-requisities
Subject has no co-requisities.
Subject syllabus:
Lecture:
1. Wheel chassis
2. Functional subgroups, Control
3. Mechanics of wheel movement, Basic calculations of wheel chassis I
4. Basic calculations of wheel chassis II,
5. Statically stable wheel systems - motion mechanics and basic calculations, examples of solutions, control
6. Statically unstable wheel systems - mechanics of motion and basic calculations, examples of solutions, control
7. Crawler chassis
8. Functional subgroups, crawler control, motion mechanics I.
9. Mechanics of crawler movement I.
10. Mechanics of crawler movement II.
11. Mechanics of crawler movement III.
12. Two and three track crawlers
13. Four or more track crawlers
Exercises:
1. Project assignment
2. Application of service scenario methodology
3. Determination of functional and organ structure
4. Design of wheel chassis kinematics and selection of HW components
5. Elaboration of rough building structure I.
6. Elaboration of rough building structure II.
7. Preliminary calculation
8. Model transfer to the simulation environment
9. Simulation in the testing environment
10. Simulation in the testing environment
11. Design of mechanical structure
12. Control calculations
13. Submission and defense of the project
Conditions for subject completion
Conditions for completion are defined only for particular subject version and form of study
Occurrence in study plans
Occurrence in special blocks
Assessment of instruction
Předmět neobsahuje žádné hodnocení.